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Daniel Lovell
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@ -0,0 +1,154 @@
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using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using TMPro;
|
||||
using Unity.PlasticSCM.Editor.UI;
|
||||
using Unity.VisualScripting;
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||||
using UnityEngine;
|
||||
|
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public abstract class Agent : MonoBehaviour
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{
|
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public enum FlightPhase {
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||||
INITIALIZED,
|
||||
READY,
|
||||
BOOST,
|
||||
|
||||
MIDCOURSE,
|
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TERMINAL,
|
||||
TERMINATED
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}
|
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protected double _elapsedTime = 0;
|
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[SerializeField]
|
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protected FlightPhase _flightPhase = FlightPhase.INITIALIZED;
|
||||
|
||||
[SerializeField]
|
||||
protected Agent _target;
|
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protected bool _isHit = false;
|
||||
|
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protected DynamicConfig _dynamicConfig;
|
||||
[SerializeField]
|
||||
public StaticConfig StaticConfig;
|
||||
|
||||
public bool HasLaunched() {
|
||||
return (_flightPhase != FlightPhase.INITIALIZED) && (_flightPhase != FlightPhase.READY);
|
||||
}
|
||||
|
||||
public bool HasTerminated() {
|
||||
return _flightPhase == FlightPhase.TERMINATED;
|
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}
|
||||
|
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public virtual void SetAgentConfig(AgentConfig config) {
|
||||
_dynamicConfig = config.dynamic_config;
|
||||
}
|
||||
|
||||
public virtual bool IsAssignable() {
|
||||
return true;
|
||||
}
|
||||
|
||||
public virtual void AssignTarget(Agent target)
|
||||
{
|
||||
_target = target;
|
||||
}
|
||||
|
||||
public bool HasAssignedTarget() {
|
||||
return _target != null;
|
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}
|
||||
|
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public void CheckTargetHit() {
|
||||
if (HasAssignedTarget() && _target.IsHit()) {
|
||||
UnassignTarget();
|
||||
}
|
||||
}
|
||||
|
||||
public virtual void UnassignTarget()
|
||||
{
|
||||
_target = null;
|
||||
}
|
||||
|
||||
// Return whether the agent has hit or been hit.
|
||||
public bool IsHit() {
|
||||
return _isHit;
|
||||
}
|
||||
|
||||
// Mark the agent as having hit the target or been hit.
|
||||
public void MarkAsHit() {
|
||||
_isHit = true;
|
||||
_flightPhase = FlightPhase.TERMINATED;
|
||||
}
|
||||
|
||||
|
||||
|
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public double GetSpeed() {
|
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return GetComponent<Rigidbody>().velocity.magnitude;
|
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}
|
||||
|
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public Vector3 GetVelocity() {
|
||||
return GetComponent<Rigidbody>().velocity;
|
||||
}
|
||||
|
||||
public double GetDynamicPressure() {
|
||||
var airDensity = Constants.CalculateAirDensityAtAltitude(transform.position.y);
|
||||
var flowSpeed = GetSpeed();
|
||||
return 0.5 * airDensity * (flowSpeed * flowSpeed);
|
||||
}
|
||||
|
||||
protected abstract void UpdateReady(double deltaTime);
|
||||
protected abstract void UpdateBoost(double deltaTime);
|
||||
protected abstract void UpdateMidCourse(double deltaTime);
|
||||
|
||||
|
||||
|
||||
|
||||
// Start is called before the first frame update
|
||||
protected virtual void Start()
|
||||
{
|
||||
_elapsedTime = 0;
|
||||
_flightPhase = FlightPhase.READY;
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
protected virtual void Update()
|
||||
{
|
||||
var launch_time = _dynamicConfig.launch_config.launch_time;
|
||||
var boost_time = launch_time + StaticConfig.boostConfig.boostTime;
|
||||
_elapsedTime += Time.deltaTime;
|
||||
if(_elapsedTime > launch_time) {
|
||||
_flightPhase = FlightPhase.BOOST;
|
||||
}
|
||||
if(_elapsedTime > boost_time) {
|
||||
_flightPhase = FlightPhase.MIDCOURSE;
|
||||
}
|
||||
AlignWithVelocity();
|
||||
switch (_flightPhase) {
|
||||
|
||||
case FlightPhase.INITIALIZED:
|
||||
break;
|
||||
case FlightPhase.READY:
|
||||
UpdateReady(Time.deltaTime);
|
||||
break;
|
||||
case FlightPhase.BOOST:
|
||||
UpdateBoost(Time.deltaTime);
|
||||
break;
|
||||
case FlightPhase.MIDCOURSE:
|
||||
case FlightPhase.TERMINAL:
|
||||
UpdateMidCourse(Time.deltaTime);
|
||||
break;
|
||||
case FlightPhase.TERMINATED:
|
||||
break;
|
||||
}
|
||||
}
|
||||
protected virtual void AlignWithVelocity()
|
||||
{
|
||||
Vector3 velocity = GetVelocity();
|
||||
if (velocity.magnitude > 0.1f) // Only align if we have significant velocity
|
||||
{
|
||||
// Create a rotation with forward along velocity and up along world up
|
||||
Quaternion targetRotation = Quaternion.LookRotation(velocity, Vector3.up);
|
||||
|
||||
// Smoothly rotate towards the target rotation
|
||||
transform.rotation = Quaternion.RotateTowards(transform.rotation, targetRotation, 100f * Time.deltaTime);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: a86fc0084ee738845a451b91dd4960d9
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,59 @@
|
|||
using System;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
// The assignment class is an interface for assigning a target to each missile.
|
||||
public abstract class Assignment
|
||||
{
|
||||
// Assignment item type.
|
||||
// The first element corresponds to the missile index, and the second element
|
||||
// corresponds to the target index.
|
||||
public struct AssignmentItem
|
||||
{
|
||||
public int MissileIndex;
|
||||
public int TargetIndex;
|
||||
|
||||
public AssignmentItem(int missileIndex, int targetIndex)
|
||||
{
|
||||
MissileIndex = missileIndex;
|
||||
TargetIndex = targetIndex;
|
||||
}
|
||||
}
|
||||
|
||||
// A list containing the missile-target assignments.
|
||||
protected LinkedList<AssignmentItem> missileToTargetAssignments = new LinkedList<AssignmentItem>();
|
||||
|
||||
// Return the missile-target assignments.
|
||||
public IEnumerable<AssignmentItem> Assignments => missileToTargetAssignments;
|
||||
|
||||
// Assign a target to each missile that has not been assigned a target yet.
|
||||
public abstract void Assign(List<Agent> missiles, List<Agent> targets);
|
||||
|
||||
// Get the list of assignable missile indices.
|
||||
protected static List<int> GetAssignableMissileIndices(List<Agent> missiles)
|
||||
{
|
||||
List<int> assignableMissileIndices = new List<int>();
|
||||
for (int missileIndex = 0; missileIndex < missiles.Count; missileIndex++)
|
||||
{
|
||||
if (missiles[missileIndex].IsAssignable())
|
||||
{
|
||||
assignableMissileIndices.Add(missileIndex);
|
||||
}
|
||||
}
|
||||
return assignableMissileIndices;
|
||||
}
|
||||
|
||||
// Get the list of active target indices.
|
||||
protected static List<int> GetActiveTargetIndices(List<Agent> targets)
|
||||
{
|
||||
List<int> activeTargetIndices = new List<int>();
|
||||
for (int targetIndex = 0; targetIndex < targets.Count; targetIndex++)
|
||||
{
|
||||
if (!targets[targetIndex].IsHit())
|
||||
{
|
||||
activeTargetIndices.Add(targetIndex);
|
||||
}
|
||||
}
|
||||
return activeTargetIndices;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 95c1ee01149331443bb91460f4d1e3a2
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
using System;
|
||||
|
||||
public static class Constants
|
||||
{
|
||||
// Constants (these should be defined with appropriate values)
|
||||
private const double kAirDensity = 1.204; // Sea level air density in kg/m^3
|
||||
private const double kAirDensityScaleHeight = 10.4; // Scale height in km
|
||||
private const double kGravity = 9.80665; // Standard gravity in m/s^2
|
||||
private const double kEarthMeanRadius = 6378137; // Earth's mean radius in meters
|
||||
|
||||
public static double CalculateAirDensityAtAltitude(double altitude)
|
||||
{
|
||||
return kAirDensity * Math.Exp(-altitude / (kAirDensityScaleHeight * 1000));
|
||||
}
|
||||
|
||||
public static double CalculateGravityAtAltitude(double altitude)
|
||||
{
|
||||
return kGravity * Math.Pow(kEarthMeanRadius / (kEarthMeanRadius + altitude), 2);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 52d6188ab9d8da8498db11ceddd027bf
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class DroneTarget : Target
|
||||
{
|
||||
// Start is called before the first frame update
|
||||
protected override void Start()
|
||||
{
|
||||
base.Start();
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
protected override void Update()
|
||||
{
|
||||
base.Update();
|
||||
}
|
||||
|
||||
protected override void UpdateReady(double deltaTime) {
|
||||
|
||||
}
|
||||
|
||||
protected override void UpdateBoost(double deltaTime) {
|
||||
|
||||
}
|
||||
|
||||
protected override void UpdateMidCourse(double deltaTime) {
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: f532f6ee629e87643b7b75a50e83083f
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
using UnityEngine;
|
||||
|
||||
public class IdealSensor : Sensor
|
||||
{
|
||||
protected override void Start()
|
||||
{
|
||||
base.Start();
|
||||
}
|
||||
|
||||
public override SensorOutput Sense(Agent target)
|
||||
{
|
||||
SensorOutput targetSensorOutput = new SensorOutput();
|
||||
|
||||
// Sense the target's position
|
||||
PositionOutput targetPositionSensorOutput = SensePosition(target);
|
||||
targetSensorOutput.position = targetPositionSensorOutput;
|
||||
|
||||
// Sense the target's velocity
|
||||
VelocityOutput targetVelocitySensorOutput = SenseVelocity(target);
|
||||
targetSensorOutput.velocity = targetVelocitySensorOutput;
|
||||
|
||||
return targetSensorOutput;
|
||||
}
|
||||
|
||||
protected override PositionOutput SensePosition(Agent target)
|
||||
{
|
||||
PositionOutput positionSensorOutput = new PositionOutput();
|
||||
|
||||
// Calculate the relative position of the target
|
||||
Vector3 relativePosition = target.transform.position - transform.position;
|
||||
|
||||
// Calculate the distance (range) to the target
|
||||
positionSensorOutput.range = relativePosition.magnitude;
|
||||
|
||||
// Calculate azimuth (horizontal angle relative to forward)
|
||||
positionSensorOutput.azimuth = Vector3.SignedAngle(transform.forward, relativePosition, transform.up);
|
||||
|
||||
// Calculate elevation (vertical angle relative to forward)
|
||||
Vector3 flatRelativePosition = Vector3.ProjectOnPlane(relativePosition, transform.up);
|
||||
positionSensorOutput.elevation = Vector3.SignedAngle(flatRelativePosition, relativePosition, transform.right);
|
||||
|
||||
return positionSensorOutput;
|
||||
}
|
||||
|
||||
// protected override VelocityOutput SenseVelocity(Agent target)
|
||||
// {
|
||||
// VelocityOutput velocitySensorOutput = new VelocityOutput();
|
||||
|
||||
// // Calculate the relative position of the target with respect to the agent
|
||||
// Vector3 position = _agent.transform.position;
|
||||
// Vector3 targetPosition = target.transform.position;
|
||||
// Vector3 targetRelativePosition = targetPosition - position;
|
||||
|
||||
// // Calculate the relative velocity of the target with respect to the agent
|
||||
// Vector3 velocity = _agent.GetVelocity();
|
||||
// Vector3 targetVelocity = target.GetVelocity();
|
||||
// Vector3 targetRelativeVelocity = targetVelocity - velocity;
|
||||
|
||||
// // Project the relative velocity vector onto the relative position vector
|
||||
// Vector3 velocityProjectionOnRelativePosition = Vector3.Project(targetRelativeVelocity, targetRelativePosition);
|
||||
|
||||
// // Determine the sign of the range rate
|
||||
// float rangeRateSign = Vector3.Dot(velocityProjectionOnRelativePosition, targetRelativePosition) >= 0 ? 1 : -1;
|
||||
|
||||
// // Calculate the range rate
|
||||
// velocitySensorOutput.range = rangeRateSign * velocityProjectionOnRelativePosition.magnitude;
|
||||
|
||||
// // Project the relative velocity vector onto the sphere passing through the target
|
||||
// Vector3 velocityProjectionOnAzimuthElevationSphere = targetRelativeVelocity - velocityProjectionOnRelativePosition;
|
||||
|
||||
// // The target azimuth vector is orthogonal to the relative position vector and
|
||||
// // points to the starboard of the target along the azimuth-elevation sphere
|
||||
// Vector3 targetAzimuth = Vector3.Cross(targetRelativePosition, _agent.transform.forward).normalized;
|
||||
|
||||
// // The target elevation vector is orthogonal to the relative position vector
|
||||
// // and points upwards from the target along the azimuth-elevation sphere
|
||||
// Vector3 targetElevation = Vector3.Cross(targetAzimuth, targetRelativePosition).normalized;
|
||||
|
||||
// // If the relative position vector is parallel to the yaw or pitch axis, the
|
||||
// // target azimuth vector or the target elevation vector will be undefined
|
||||
// if (targetAzimuth.magnitude == 0)
|
||||
// {
|
||||
// // In this case, we can use the right vector as the azimuth
|
||||
// targetAzimuth = _agent.transform.right;
|
||||
// // And recalculate the elevation vector
|
||||
// targetElevation = Vector3.Cross(targetAzimuth, targetRelativePosition).normalized;
|
||||
// }
|
||||
|
||||
// else if (targetElevation.magnitude == 0)
|
||||
// {
|
||||
// targetElevation = Vector3.Cross(targetAzimuth, targetRelativePosition);
|
||||
// }
|
||||
|
||||
// // Project the relative velocity vector on the azimuth-elevation sphere onto the target azimuth vector
|
||||
// Vector3 velocityProjectionOnTargetAzimuth = Vector3.Project(velocityProjectionOnAzimuthElevationSphere, targetAzimuth);
|
||||
|
||||
// // Determine the sign of the azimuth velocity
|
||||
// float azimuthVelocitySign = Vector3.Dot(velocityProjectionOnTargetAzimuth, targetAzimuth) >= 0 ? 1 : -1;
|
||||
|
||||
// // Calculate the time derivative of the azimuth to the target
|
||||
// velocitySensorOutput.azimuth = azimuthVelocitySign * velocityProjectionOnTargetAzimuth.magnitude / targetRelativePosition.magnitude;
|
||||
|
||||
// // Project the velocity vector on the azimuth-elevation sphere onto the target elevation vector
|
||||
// Vector3 velocityProjectionOnTargetElevation = velocityProjectionOnAzimuthElevationSphere - velocityProjectionOnTargetAzimuth;
|
||||
|
||||
// // Determine the sign of the elevation velocity
|
||||
// float elevationVelocitySign = Vector3.Dot(velocityProjectionOnTargetElevation, targetElevation) >= 0 ? 1 : -1;
|
||||
|
||||
// // Calculate the time derivative of the elevation to the target
|
||||
// velocitySensorOutput.elevation = elevationVelocitySign * velocityProjectionOnTargetElevation.magnitude / targetRelativePosition.magnitude;
|
||||
|
||||
// return velocitySensorOutput;
|
||||
// }
|
||||
|
||||
protected override VelocityOutput SenseVelocity(Agent target)
|
||||
{
|
||||
VelocityOutput velocitySensorOutput = new VelocityOutput();
|
||||
|
||||
// Calculate relative position and velocity
|
||||
Vector3 relativePosition = target.transform.position - transform.position;
|
||||
Vector3 relativeVelocity = target.GetVelocity() - GetComponent<Rigidbody>().velocity;
|
||||
|
||||
// Calculate range rate (radial velocity)
|
||||
velocitySensorOutput.range = Vector3.Dot(relativeVelocity, relativePosition.normalized);
|
||||
|
||||
// Project relative velocity onto a plane perpendicular to relative position
|
||||
Vector3 tangentialVelocity = Vector3.ProjectOnPlane(relativeVelocity, relativePosition.normalized);
|
||||
|
||||
// Calculate azimuth rate
|
||||
Vector3 horizontalVelocity = Vector3.ProjectOnPlane(tangentialVelocity, transform.up);
|
||||
velocitySensorOutput.azimuth = Vector3.Dot(horizontalVelocity, transform.right) / relativePosition.magnitude;
|
||||
|
||||
// Calculate elevation rate
|
||||
Vector3 verticalVelocity = Vector3.Project(tangentialVelocity, transform.up);
|
||||
velocitySensorOutput.elevation = verticalVelocity.magnitude / relativePosition.magnitude;
|
||||
if (Vector3.Dot(verticalVelocity, transform.up) < 0)
|
||||
{
|
||||
velocitySensorOutput.elevation *= -1;
|
||||
}
|
||||
|
||||
return velocitySensorOutput;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: f9b285afc8c96ee4f9ca22836fd105d0
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,112 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class Micromissile : Missile
|
||||
{
|
||||
[SerializeField] private float navigationGain = 10f; // Typically 3-5
|
||||
[SerializeField] private bool _showDebugVectors = true;
|
||||
|
||||
private Vector3 _previousLOS;
|
||||
private Vector3 _accelerationCommand;
|
||||
private float _lastUpdateTime;
|
||||
protected override void UpdateMidCourse(double deltaTime)
|
||||
{
|
||||
Vector3 accelerationInput = Vector3.zero;
|
||||
if (HasAssignedTarget())
|
||||
{
|
||||
// Update the target model (assuming we have a target model)
|
||||
// TODO: Implement target model update logic
|
||||
|
||||
// Correct the state of the target model at the sensor frequency
|
||||
float sensorUpdatePeriod = 1f / _dynamicConfig.sensor_config.frequency;
|
||||
if (_elapsedTime - _sensorUpdateTime >= sensorUpdatePeriod)
|
||||
{
|
||||
// TODO: Implement guidance filter to estimate state from sensor output
|
||||
// For now, we'll use the target's actual state
|
||||
// targetModel.SetState(_target.GetState());
|
||||
_sensorUpdateTime = (float)_elapsedTime;
|
||||
}
|
||||
|
||||
// Sense the target
|
||||
SensorOutput sensorOutput = GetComponent<Sensor>().Sense(_target);
|
||||
|
||||
// Check whether the target has been hit
|
||||
if (_target.IsHit())
|
||||
{
|
||||
float killProbability = _target.GetComponent<Agent>().StaticConfig.hitConfig.killProbability;
|
||||
if (Random.value < killProbability)
|
||||
{
|
||||
MarkAsHit();
|
||||
_target.MarkAsHit();
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
// Calculate the acceleration input
|
||||
accelerationInput = CalculateAccelerationCommand(sensorOutput);
|
||||
}
|
||||
|
||||
// Calculate and set the total acceleration
|
||||
Vector3 acceleration = CalculateAcceleration(accelerationInput, compensateForGravity: true);
|
||||
GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
|
||||
|
||||
if (_showDebugVectors)
|
||||
{
|
||||
DrawDebugVectors();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
private Vector3 CalculateAccelerationCommand(SensorOutput sensorOutput)
|
||||
{
|
||||
// Implement Proportional Navigation guidance law
|
||||
Vector3 accelerationCommand = Vector3.zero;
|
||||
|
||||
// Extract relevant information from sensor output
|
||||
float los_rate_az = sensorOutput.velocity.azimuth;
|
||||
float los_rate_el = sensorOutput.velocity.elevation;
|
||||
float closing_velocity = -sensorOutput.velocity.range; // Negative because closing velocity is opposite to range rate
|
||||
|
||||
// Navigation gain (adjust as needed)
|
||||
float N = navigationGain;
|
||||
|
||||
// Calculate acceleration commands in azimuth and elevation planes
|
||||
float acc_az = N * closing_velocity * los_rate_az;
|
||||
float acc_el = N * closing_velocity * los_rate_el;
|
||||
|
||||
// Convert acceleration commands to missile body frame
|
||||
accelerationCommand = transform.right * acc_az + transform.up * acc_el;
|
||||
|
||||
// Clamp the acceleration command to the maximum acceleration
|
||||
float maxAcceleration = CalculateMaxAcceleration();
|
||||
accelerationCommand = Vector3.ClampMagnitude(accelerationCommand, maxAcceleration);
|
||||
|
||||
// Update the stored acceleration command for debugging
|
||||
_accelerationCommand = accelerationCommand;
|
||||
return accelerationCommand;
|
||||
}
|
||||
private void DrawDebugVectors()
|
||||
{
|
||||
if (_target != null)
|
||||
{
|
||||
// Line of sight
|
||||
Debug.DrawLine(transform.position, _target.transform.position, Color.white);
|
||||
|
||||
// Velocity vector
|
||||
Debug.DrawRay(transform.position, GetVelocity(), Color.blue);
|
||||
|
||||
// Acceleration input
|
||||
Debug.DrawRay(transform.position, _accelerationCommand*1000f, Color.green);
|
||||
|
||||
// Current forward direction
|
||||
Debug.DrawRay(transform.position, transform.forward * 5f, Color.yellow);
|
||||
|
||||
// Pitch axis (right)
|
||||
Debug.DrawRay(transform.position, transform.right * 5f, Color.red);
|
||||
|
||||
// Yaw axis (up)
|
||||
Debug.DrawRay(transform.position, transform.up * 5f, Color.magenta);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 864f4855030b29d44a944391ce02342a
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,130 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class Missile : Agent
|
||||
{
|
||||
|
||||
protected double _sensorUpdateTime = 0.0;
|
||||
|
||||
[SerializeField]
|
||||
private Vector3 _boostAcceleration;
|
||||
// Return whether a target can be assigned to the missile.
|
||||
public override bool IsAssignable() {
|
||||
bool assignable = !HasLaunched() && !HasAssignedTarget();
|
||||
return assignable;
|
||||
}
|
||||
|
||||
// Assign the given target to the missile.
|
||||
public override void AssignTarget(Agent target) {
|
||||
base.AssignTarget(target);
|
||||
}
|
||||
|
||||
|
||||
// Unassign the target from the missile.
|
||||
public override void UnassignTarget() {
|
||||
base.UnassignTarget();
|
||||
}
|
||||
|
||||
protected override void UpdateReady(double deltaTime) {
|
||||
Vector3 accelerationInput = Vector3.zero;
|
||||
Vector3 acceleration = CalculateAcceleration(accelerationInput);
|
||||
GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
|
||||
}
|
||||
|
||||
protected override void UpdateBoost(double deltaTime)
|
||||
{
|
||||
// The missile only accelerates along its roll axis (forward in Unity)
|
||||
Vector3 rollAxis = transform.forward;
|
||||
|
||||
// Calculate boost acceleration
|
||||
float boostAcceleration = StaticConfig.boostConfig.boostAcceleration * Physics.gravity.magnitude;
|
||||
Vector3 accelerationInput = boostAcceleration * rollAxis;
|
||||
|
||||
// Calculate the total acceleration
|
||||
Vector3 acceleration = CalculateAcceleration(accelerationInput);
|
||||
|
||||
// Apply the acceleration force
|
||||
GetComponent<Rigidbody>().AddForce(acceleration, ForceMode.Acceleration);
|
||||
_boostAcceleration = acceleration;
|
||||
}
|
||||
protected override void UpdateMidCourse(double deltaTime) {
|
||||
|
||||
}
|
||||
|
||||
protected Vector3 CalculateAcceleration(Vector3 accelerationInput, bool compensateForGravity = true)
|
||||
{
|
||||
Vector3 gravity = Physics.gravity;
|
||||
if (compensateForGravity)
|
||||
{
|
||||
Vector3 gravityProjection = CalculateGravityProjectionOnPitchAndYaw();
|
||||
accelerationInput -= gravityProjection;
|
||||
}
|
||||
|
||||
Vector3 airDrag = CalculateDrag();
|
||||
Vector3 liftInducedDrag = CalculateLiftInducedDrag(accelerationInput);
|
||||
Vector3 dragAcceleration = -(airDrag + liftInducedDrag);
|
||||
|
||||
// Project the drag acceleration onto the forward direction
|
||||
Vector3 dragAccelerationAlongRoll = Vector3.Dot(dragAcceleration, transform.forward) * transform.forward;
|
||||
|
||||
return accelerationInput + gravity + dragAccelerationAlongRoll;
|
||||
}
|
||||
|
||||
private void OnTriggerEnter(Collider other)
|
||||
{
|
||||
// Check if the collision is with another Agent
|
||||
Agent otherAgent = other.gameObject.GetComponentInParent<Agent>();
|
||||
if (otherAgent != null && otherAgent.GetComponent<Target>() != null)
|
||||
{
|
||||
// Check kill probability before marking as hit
|
||||
float killProbability = StaticConfig.hitConfig.killProbability;
|
||||
if (Random.value <= killProbability)
|
||||
{
|
||||
// Mark both this agent and the other agent as hit
|
||||
this.MarkAsHit();
|
||||
otherAgent.MarkAsHit();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
protected float CalculateMaxAcceleration()
|
||||
{
|
||||
float maxReferenceAcceleration = StaticConfig.accelerationConfig.maxReferenceAcceleration * Physics.gravity.magnitude;
|
||||
float referenceSpeed = StaticConfig.accelerationConfig.referenceSpeed;
|
||||
return Mathf.Pow(GetComponent<Rigidbody>().velocity.magnitude / referenceSpeed, 2) * maxReferenceAcceleration;
|
||||
}
|
||||
protected Vector3 CalculateGravityProjectionOnPitchAndYaw()
|
||||
{
|
||||
Vector3 gravity = Physics.gravity;
|
||||
Vector3 pitchAxis = transform.right;
|
||||
Vector3 yawAxis = transform.up;
|
||||
|
||||
// Project the gravity onto the pitch and yaw axes
|
||||
float gravityProjectionPitchCoefficient = Vector3.Dot(gravity, pitchAxis);
|
||||
float gravityProjectionYawCoefficient = Vector3.Dot(gravity, yawAxis);
|
||||
|
||||
// Return the sum of the projections
|
||||
return gravityProjectionPitchCoefficient * pitchAxis +
|
||||
gravityProjectionYawCoefficient * yawAxis;
|
||||
}
|
||||
|
||||
private Vector3 CalculateDrag()
|
||||
{
|
||||
float dragCoefficient = StaticConfig.liftDragConfig.dragCoefficient;
|
||||
float crossSectionalArea = StaticConfig.bodyConfig.crossSectionalArea;
|
||||
float mass = StaticConfig.bodyConfig.mass;
|
||||
float dynamicPressure = (float)GetDynamicPressure();
|
||||
float dragForce = dragCoefficient * dynamicPressure * crossSectionalArea;
|
||||
return dragForce / mass * Vector3.one;
|
||||
}
|
||||
|
||||
private Vector3 CalculateLiftInducedDrag(Vector3 accelerationInput)
|
||||
{
|
||||
Vector3 principalAxes = transform.forward;
|
||||
float liftAcceleration = Vector3.Dot(accelerationInput, principalAxes);
|
||||
float liftDragRatio = StaticConfig.liftDragConfig.liftDragRatio;
|
||||
return Mathf.Abs(liftAcceleration / liftDragRatio) * Vector3.one;
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 932fd95d676a82349ab18bddf929d4bb
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,18 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class MissileTarget : MonoBehaviour
|
||||
{
|
||||
// Start is called before the first frame update
|
||||
void Start()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update()
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 16e40584b2154ef4a95c84e85a321999
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,43 @@
|
|||
using System;
|
||||
using System.Collections.Generic;
|
||||
using System.Linq;
|
||||
using UnityEngine;
|
||||
|
||||
// The round-robin assignment class assigns missiles to the targets in a
|
||||
// round-robin order.
|
||||
public class RoundRobinAssignment : Assignment
|
||||
{
|
||||
// Previous target index that was assigned.
|
||||
private int prevTargetIndex = -1;
|
||||
|
||||
// Assign a target to each missile that has not been assigned a target yet.
|
||||
public override void Assign(List<Agent> missiles, List<Agent> targets)
|
||||
{
|
||||
List<int> assignableMissileIndices = GetAssignableMissileIndices(missiles);
|
||||
if (assignableMissileIndices.Count == 0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
List<int> activeTargetIndices = GetActiveTargetIndices(targets);
|
||||
if (activeTargetIndices.Count == 0)
|
||||
{
|
||||
return;
|
||||
}
|
||||
|
||||
foreach (int missileIndex in assignableMissileIndices)
|
||||
{
|
||||
int nextActiveTargetIndex = activeTargetIndices
|
||||
.FindIndex(index => index > prevTargetIndex);
|
||||
|
||||
if (nextActiveTargetIndex == -1)
|
||||
{
|
||||
nextActiveTargetIndex = 0;
|
||||
}
|
||||
|
||||
int nextTargetIndex = activeTargetIndices[nextActiveTargetIndex];
|
||||
missileToTargetAssignments.AddFirst(new AssignmentItem(missileIndex, nextTargetIndex));
|
||||
prevTargetIndex = nextTargetIndex;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: f668f6d7413495c4093550e492ce36bd
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,37 @@
|
|||
using UnityEngine;
|
||||
|
||||
public abstract class Sensor : MonoBehaviour
|
||||
{
|
||||
protected Agent _agent;
|
||||
|
||||
protected virtual void Start()
|
||||
{
|
||||
_agent = GetComponent<Agent>();
|
||||
}
|
||||
|
||||
public abstract SensorOutput Sense(Agent target);
|
||||
|
||||
protected abstract PositionOutput SensePosition(Agent target);
|
||||
|
||||
protected abstract VelocityOutput SenseVelocity(Agent target);
|
||||
}
|
||||
|
||||
public struct SensorOutput
|
||||
{
|
||||
public PositionOutput position;
|
||||
public VelocityOutput velocity;
|
||||
}
|
||||
|
||||
public struct PositionOutput
|
||||
{
|
||||
public float range;
|
||||
public float azimuth;
|
||||
public float elevation;
|
||||
}
|
||||
|
||||
public struct VelocityOutput
|
||||
{
|
||||
public float range;
|
||||
public float azimuth;
|
||||
public float elevation;
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 285bc14e5585a804b9bc44b10b8c3cb1
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,219 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class SimManager : MonoBehaviour
|
||||
{
|
||||
[SerializeField]
|
||||
public SimulationConfig simulationConfig;
|
||||
|
||||
|
||||
private List<Missile> missiles = new List<Missile>();
|
||||
private List<Target> targets = new List<Target>();
|
||||
private float currentTime = 0f;
|
||||
private float endTime = 100f; // Set an appropriate end time
|
||||
private bool simulationRunning = false;
|
||||
|
||||
private Assignment _assignment;
|
||||
|
||||
|
||||
void Start() {
|
||||
// Slow down time by simulationConfig.timeScale
|
||||
Time.timeScale = simulationConfig.timeScale;
|
||||
Time.fixedDeltaTime = Time.timeScale * 0.02f;
|
||||
Time.maximumDeltaTime = Time.timeScale * 0.15f;
|
||||
InitializeSimulation();
|
||||
simulationRunning = true;
|
||||
}
|
||||
|
||||
private void InitializeSimulation()
|
||||
{
|
||||
// Create missiles based on config
|
||||
foreach (var swarmConfig in simulationConfig.missile_swarm_configs)
|
||||
{
|
||||
for (int i = 0; i < swarmConfig.num_agents; i++) {
|
||||
var missile = CreateMissile(swarmConfig.agent_config);
|
||||
missiles.Add(missile);
|
||||
}
|
||||
}
|
||||
|
||||
// Create targets based on config
|
||||
foreach (var swarmConfig in simulationConfig.target_swarm_configs)
|
||||
{
|
||||
for (int i = 0; i < swarmConfig.num_agents; i++) {
|
||||
var target = CreateTarget(swarmConfig.agent_config);
|
||||
targets.Add(target);
|
||||
}
|
||||
}
|
||||
|
||||
_assignment = new RoundRobinAssignment();
|
||||
// Perform initial assignment
|
||||
AssignMissilesToTargets();
|
||||
}
|
||||
|
||||
private void AssignMissilesToTargets()
|
||||
{
|
||||
// Convert Missile and Target lists to Agent lists
|
||||
List<Agent> missileAgents = new List<Agent>(missiles.ConvertAll(m => m as Agent));
|
||||
List<Agent> targetAgents = new List<Agent>(targets.ConvertAll(t => t as Agent));
|
||||
|
||||
// Perform the assignment
|
||||
_assignment.Assign(missileAgents, targetAgents);
|
||||
|
||||
// Apply the assignments to the missiles
|
||||
foreach (var assignment in _assignment.Assignments)
|
||||
{
|
||||
Missile missile = missiles[assignment.MissileIndex];
|
||||
Target target = targets[assignment.TargetIndex];
|
||||
missile.AssignTarget(target);
|
||||
Debug.Log($"Missile {missile.name} assigned to target {target.name}");
|
||||
}
|
||||
}
|
||||
|
||||
private Missile CreateMissile(AgentConfig config)
|
||||
{
|
||||
// Load the missile prefab from Resources
|
||||
GameObject missilePrefab = Resources.Load<GameObject>($"Prefabs/{config.prefabName}");
|
||||
if (missilePrefab == null)
|
||||
{
|
||||
Debug.LogError($"Missile prefab '{config.prefabName}' not found in Resources/Prefabs folder.");
|
||||
return null;
|
||||
}
|
||||
|
||||
// Apply noise to the initial position
|
||||
Vector3 noiseOffset = Utilities.GenerateRandomNoise(config.standard_deviation.position);
|
||||
Vector3 noisyPosition = config.initial_state.position + noiseOffset;
|
||||
|
||||
// Instantiate the missile with the noisy position
|
||||
GameObject missileObject = Instantiate(missilePrefab, noisyPosition, Quaternion.Euler(config.initial_state.rotation));
|
||||
|
||||
switch(config.dynamic_config.sensor_config.type) {
|
||||
case SensorType.IDEAL:
|
||||
missileObject.AddComponent<IdealSensor>();
|
||||
break;
|
||||
default:
|
||||
Debug.LogError($"Sensor type '{config.dynamic_config.sensor_config.type}' not found.");
|
||||
break;
|
||||
}
|
||||
|
||||
// Set initial velocity
|
||||
Rigidbody missileRigidbody = missileObject.GetComponent<Rigidbody>();
|
||||
// Apply noise to the initial velocity
|
||||
Vector3 velocityNoise = Utilities.GenerateRandomNoise(config.standard_deviation.velocity);
|
||||
Vector3 noisyVelocity = config.initial_state.velocity + velocityNoise;
|
||||
missileRigidbody.velocity = noisyVelocity;
|
||||
|
||||
|
||||
Missile missile = missileObject.GetComponent<Missile>();
|
||||
missile.SetAgentConfig(config);
|
||||
if (missile == null)
|
||||
{
|
||||
Debug.LogError($"Missile component not found on prefab '{config.prefabName}'.");
|
||||
Destroy(missileObject);
|
||||
return null;
|
||||
}
|
||||
|
||||
// Initialize missile properties
|
||||
//missile.Initialize(config);
|
||||
|
||||
return missile;
|
||||
}
|
||||
private Target CreateTarget(AgentConfig config)
|
||||
{
|
||||
// Load the target prefab from Resources
|
||||
GameObject targetPrefab = Resources.Load<GameObject>($"Prefabs/{config.prefabName}");
|
||||
if (targetPrefab == null)
|
||||
{
|
||||
Debug.LogError($"Target prefab '{config.prefabName}' not found in Resources/Prefabs folder.");
|
||||
return null;
|
||||
}
|
||||
|
||||
// Apply noise to the initial position
|
||||
Vector3 noiseOffset = Utilities.GenerateRandomNoise(config.standard_deviation.position);
|
||||
Vector3 noisyPosition = config.initial_state.position + noiseOffset;
|
||||
|
||||
// Instantiate the target with the noisy position
|
||||
GameObject targetObject = Instantiate(targetPrefab, noisyPosition, Quaternion.Euler(config.initial_state.rotation));
|
||||
|
||||
// Set initial velocity with noise
|
||||
Rigidbody targetRigidbody = targetObject.GetComponent<Rigidbody>();
|
||||
Vector3 velocityNoise = Utilities.GenerateRandomNoise(config.standard_deviation.velocity);
|
||||
Vector3 noisyVelocity = config.initial_state.velocity + velocityNoise;
|
||||
targetRigidbody.velocity = noisyVelocity;
|
||||
|
||||
Target target = targetObject.GetComponent<Target>();
|
||||
target.SetAgentConfig(config);
|
||||
|
||||
if (target == null)
|
||||
{
|
||||
Debug.LogError($"Target component not found on prefab '{config.prefabName}'.");
|
||||
Destroy(targetObject);
|
||||
return null;
|
||||
}
|
||||
|
||||
// Initialize target properties
|
||||
//target.Initialize(config);
|
||||
|
||||
return target;
|
||||
}
|
||||
|
||||
private void RestartSimulation()
|
||||
{
|
||||
// Reset simulation time
|
||||
currentTime = 0f;
|
||||
simulationRunning = true;
|
||||
|
||||
// Clear existing missiles and targets
|
||||
foreach (var missile in missiles)
|
||||
{
|
||||
if (missile != null)
|
||||
{
|
||||
Destroy(missile.gameObject);
|
||||
}
|
||||
}
|
||||
missiles.Clear();
|
||||
|
||||
foreach (var target in targets)
|
||||
{
|
||||
if (target != null)
|
||||
{
|
||||
Destroy(target.gameObject);
|
||||
}
|
||||
}
|
||||
targets.Clear();
|
||||
|
||||
InitializeSimulation();
|
||||
}
|
||||
|
||||
void Update()
|
||||
{
|
||||
// Check if all missiles have terminated
|
||||
bool allMissilesTerminated = true;
|
||||
foreach (var missile in missiles)
|
||||
{
|
||||
if (missile != null && !missile.IsHit())
|
||||
{
|
||||
allMissilesTerminated = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
// If all missiles have terminated, restart the simulation
|
||||
if (allMissilesTerminated)
|
||||
{
|
||||
RestartSimulation();
|
||||
}
|
||||
|
||||
if (simulationRunning && currentTime < endTime)
|
||||
{
|
||||
currentTime += Time.deltaTime;
|
||||
}
|
||||
else if (currentTime >= endTime)
|
||||
{
|
||||
simulationRunning = false;
|
||||
Debug.Log("Simulation completed.");
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 84f2990fd69b0284ca96912cbe968b62
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,144 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
[CreateAssetMenu(fileName = "SimulationConfig", menuName = "Simulation/Config", order = 1)]
|
||||
public class SimulationConfig : ScriptableObject
|
||||
{ [Header("Simulation Settings")]
|
||||
public float timeScale = 0.05f;
|
||||
|
||||
[Header("Missile Swarm Configurations")]
|
||||
public List<SwarmConfig> missile_swarm_configs = new List<SwarmConfig>();
|
||||
|
||||
[Header("Target Swarm Configurations")]
|
||||
public List<SwarmConfig> target_swarm_configs = new List<SwarmConfig>();
|
||||
|
||||
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class DynamicConfig
|
||||
{
|
||||
public LaunchConfig launch_config;
|
||||
public SensorConfig sensor_config;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class SwarmConfig
|
||||
{
|
||||
public int num_agents;
|
||||
public AgentConfig agent_config;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class AgentConfig
|
||||
{
|
||||
public MissileType missile_type;
|
||||
public TargetType target_type;
|
||||
public InitialState initial_state;
|
||||
public StandardDeviation standard_deviation;
|
||||
public DynamicConfig dynamic_config;
|
||||
public PlottingConfig plotting_config;
|
||||
public SubmunitionsConfig submunitions_config;
|
||||
public string prefabName;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class InitialState
|
||||
{
|
||||
public Vector3 position;
|
||||
public Vector3 rotation;
|
||||
public Vector3 velocity;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class StandardDeviation
|
||||
{
|
||||
public Vector3 position;
|
||||
public Vector3 velocity;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class LaunchConfig
|
||||
{
|
||||
public float launch_time;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class PlottingConfig
|
||||
{
|
||||
public Color color;
|
||||
public LineStyle linestyle;
|
||||
public Marker marker;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class SubmunitionsConfig
|
||||
{
|
||||
public int num_submunitions;
|
||||
public LaunchConfig launch_config;
|
||||
public SubmunitionAgentConfig agent_config;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class SubmunitionAgentConfig
|
||||
{
|
||||
public MissileType missile_type;
|
||||
public InitialState initial_state;
|
||||
public StandardDeviation standard_deviation;
|
||||
public DynamicConfig dynamic_config;
|
||||
public PlottingConfig plotting_config;
|
||||
public string prefabName;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class SensorConfig
|
||||
{
|
||||
public SensorType type;
|
||||
public float frequency;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class TargetConfig
|
||||
{
|
||||
public TargetType target_type;
|
||||
public InitialState initial_state;
|
||||
public PlottingConfig plotting_config;
|
||||
public string prefabName;
|
||||
}
|
||||
|
||||
public enum MissileType
|
||||
{
|
||||
HYDRA_70,
|
||||
MICROMISSILE
|
||||
}
|
||||
|
||||
public enum TargetType
|
||||
{
|
||||
DRONE
|
||||
}
|
||||
|
||||
public enum ConfigColor
|
||||
{
|
||||
BLUE,
|
||||
GREEN,
|
||||
RED
|
||||
}
|
||||
|
||||
public enum LineStyle
|
||||
{
|
||||
DOTTED,
|
||||
SOLID
|
||||
}
|
||||
|
||||
public enum Marker
|
||||
{
|
||||
TRIANGLE_UP,
|
||||
TRIANGLE_DOWN,
|
||||
SQUARE
|
||||
}
|
||||
|
||||
public enum SensorType
|
||||
{
|
||||
IDEAL
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
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|||
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userData:
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|
@ -0,0 +1,73 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
[System.Serializable]
|
||||
public class StaticConfig
|
||||
{
|
||||
[System.Serializable]
|
||||
public class AccelerationConfig
|
||||
{
|
||||
[Tooltip("Maximum reference acceleration")]
|
||||
public float maxReferenceAcceleration = 300f;
|
||||
[Tooltip("Reference speed")]
|
||||
public float referenceSpeed = 1000f;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class BoostConfig
|
||||
{
|
||||
[Tooltip("Boost time in seconds")]
|
||||
public float boostTime = 0.3f;
|
||||
[Tooltip("Boost acceleration")]
|
||||
public float boostAcceleration = 350f;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class LiftDragConfig
|
||||
{
|
||||
[Tooltip("Lift coefficient")]
|
||||
public float liftCoefficient = 0.2f;
|
||||
[Tooltip("Drag coefficient")]
|
||||
public float dragCoefficient = 0.7f;
|
||||
[Tooltip("Lift to drag ratio")]
|
||||
public float liftDragRatio = 5f;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class BodyConfig
|
||||
{
|
||||
[Tooltip("Mass in kg")]
|
||||
public float mass = 0.37f;
|
||||
[Tooltip("Cross-sectional area in m²")]
|
||||
public float crossSectionalArea = 3e-4f;
|
||||
[Tooltip("Fin area in m²")]
|
||||
public float finArea = 6e-4f;
|
||||
[Tooltip("Body area in m²")]
|
||||
public float bodyArea = 1e-2f;
|
||||
}
|
||||
|
||||
[System.Serializable]
|
||||
public class HitConfig
|
||||
{
|
||||
[Tooltip("Hit radius")]
|
||||
public float hitRadius = 1f;
|
||||
[Tooltip("Kill probability")]
|
||||
public float killProbability = 0.9f;
|
||||
}
|
||||
|
||||
[Header("Acceleration Configuration")]
|
||||
public AccelerationConfig accelerationConfig;
|
||||
|
||||
[Header("Boost Configuration")]
|
||||
public BoostConfig boostConfig;
|
||||
|
||||
[Header("Lift and Drag Configuration")]
|
||||
public LiftDragConfig liftDragConfig;
|
||||
|
||||
[Header("Body Configuration")]
|
||||
public BodyConfig bodyConfig;
|
||||
|
||||
[Header("Hit Configuration")]
|
||||
public HitConfig hitConfig;
|
||||
}
|
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|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public abstract class Target : Agent
|
||||
{
|
||||
|
||||
|
||||
public override bool IsAssignable() {
|
||||
return false;
|
||||
}
|
||||
|
||||
protected override void Start() {
|
||||
base.Start();
|
||||
}
|
||||
|
||||
protected override void Update() {
|
||||
base.Update();
|
||||
}
|
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}
|
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|
|
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userData:
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assetBundleVariant:
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@ -0,0 +1,13 @@
|
|||
using UnityEngine;
|
||||
|
||||
public static class Utilities
|
||||
{
|
||||
public static Vector3 GenerateRandomNoise(Vector3 standardDeviation)
|
||||
{
|
||||
return new Vector3(
|
||||
Random.Range(-standardDeviation.x, standardDeviation.x),
|
||||
Random.Range(-standardDeviation.y, standardDeviation.y),
|
||||
Random.Range(-standardDeviation.z, standardDeviation.z)
|
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);
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}
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}
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target_type: 0
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|
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Loading…
Reference in New Issue